Centibots very large-scale robot teams

Principal Investigators: Kurt G Konolige , Charles L Ortiz

Mailing address:
AI Center
SRI International
333 Ravenswood Avenue
Menlo Park, CA 94025-3493

AIC Program: Representation and Reasoning

Project home page at http://www.ai.sri.com/centibots

Project Description

This is a joint project with Stanford, University of Washington, and ActiveMedia Robotics, to design, implement and demonstrate a computational framework for the coordination of very large robot teams, consisting of at least 100 small, resource limited robots, on an indoor reconnaissance task.

Personnel

	Name	Title	E-mail
	Agno, Andrew L	Alumnus
	Eriksen, Michael A	Senior Software Engineer
	Morisset, Benoit	Alumnus
	Ruspini, Enrique H	Alumnus
	Vincent, Regis	Program Manager

Publications

Régis Vincent, Benoit Morisset, Andrew Agno, Michael Eriksen, Charlie Ortiz. CENTIBOTS: LARGE-SCALE AUTONOMOUS ROBOTIC SEARCH AND RESCUE EXPERIMENT, in 2nd International Joint Topical Meeting on Emergency Preparedness & Response and Robotics & Remote Systems, March 2008. [PDF, Details]
Vincent, R. and Dieter, F. and Ko, J. and Konolige, K. and Limketkai, B. and Morisset, B. and Ortiz, C. and Schulz, D. and Stewart, B. Distributed Multirobot Exploration, Mapping, and Task Allocationin Special Issue on Multi-Robot Coverage, Search, and Exploration, Annals of Math and Artificial Intelligence journal (AMAI) , 2008. [Details]
Ortiz, C. and Vincent, R. and Morisset, B. Task Inference and Distributed Task Management in the Centibots Robotic System, in The Fourth International Joint Conference on Autonomous Agents and Multi Agent Systems, ACM, Jul 2005. [PDF, Details]
Centibots: Very large scale distributed robotic teams, 2004. [PDF, Details]
Konolige, K. and Ortiz, C. and Vincent, R. and Agno, A. and Eriksen, M. and Limketkai, B. and Lewis, M. and Briesemeister, L. and Ruspini, E. and Fox, D. and Ko, J. and Sftewart, B. and Guibas, L. Large-Scale Robot Teamsin Multi-Robot Systems: From Swarms to Intelligent Autonoma, Kluwer Academic Publishers, 2003. [Details]

Videos

Centibots - Distributed mapping
This movie is part of the Centibots project, and show the mapping of 12,000 sq/feet using 5 robots.
MOV (150MB)

Centibots - demo 1 - large
This movie is part of the Centibots project and shows the first experiment with 25 robots.
MOV

Centibots - demo 1 - small
This movie is part of the Centibots project and shows the first experiment with 25 robots.
MOV

Centibots - demo 2 - small
This is the second demonstration of the Centibots project using 50 robots. The area used for this demonstration was over 24,000 sq/feet.
MOV

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